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At least 19 records

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NASA NTRS1991

Real-time control of the MIT vehicle emulation system

The MIT vehicle emulation system (VES) is an experimental facility designed to facilitate the study of controlling robots fixed to nonstationary bases. This includes assembly and repair manipulators attached to space vehicles, or to the space shuttle arm, as well as manipulators fixed to the bed of moving ground vehicles. Controlling manipulators under these conditions for endpoint force and positioning tasks requires both the development of new theory, and the development of a testbed for verifying theoretical results through experimentation. A description is presented of the technical details of the real-time controller for the second generation VES system.

Durfee, William K.↗

NASA NTRS1993

Satellite Communication Hardware Emulation System (SCHES)

Satellite Communication Hardware Emulator System (SCHES) is a powerful simulator that emulates the hardware used in TDRSS links. SCHES is a true bit-by-bit simulator that models communications hardware accurately enough to be used as a verification mechanism for actual hardware tests on user spacecraft. As a credit to its modular design, SCHES is easily configurable to model any user satellite communication link, though some development may be required to tailor existing software to user specific hardware.

Kaplan, Ted↗

NASA NTRSDate not supplied

SUSAN Power/Propulsion System Emulation Test Predictions

The development of all-electric and hybrid-electric propulsion systems for transport aircraft presents an opportunity for new designs that can reduce fuel consumption and emissions from commercial aviation while enabling safer and more reliable aircraft. The SUbsonic Single Aft eNgine (SUSAN) is a conceptual design for a single-aisle transport aircraft with a series/parallel partial-hybrid propulsion system that is being developed by NASA as a reference design for single-aisle transport with a high degree of electrification. The SUSAN aircraft incorporates multiple tightly coupled power, propulsion, and flight control systems. This coupling leads to challenges in the aircraft control design process, requiring a hierarchical and more coordinated control architecture. This presentation will summarize the plans for a Hardware-in-the-Loop (HIL) test performed in the Hybrid Propulsion Emulation Rig (HyPER) facility at NASA Glenn Research Center (GRC). During this test, a real-time reference model of the full-scale SUSAN powertrain and controllers will be run alongside a sub-scale electro-mechanical system representing a portion of the electrified components in the SUSAN hybrid powertrain. This test will allow the performance of the SUSAN controllers to be evaluated using real powertrain components and allows side-by-side comparison between the real and modeled subsystems. This presentation will summarize the full-scale system model, steps towards integration of representative hardware for future control testing, and predicted results.

Jonah J. Sachs-Wetstone↗

NASA NTRS2004

Integration of On-board EOS Schedule Revision with Space Communication Emulation System

The need for on-board decision-making for planning science observations on Earth Observing Satellites is based on the fact that the desirability of acquiring an image can change dynamically, because of changes in meteorological conditions (e.g. cloud cover), unforeseen events such as fires, floods, or volcanic eruptions, or unexpected changes in satellite or ground station capability. In such cases, satellite resources, such as power and SSR capacity can potentially be better utilized taking another image that is of higher quality. Currently, typical Earth observing satellites cannot communicate directly with each other, and can only communicate with ground stations about 5% to 10% of the time. Because of the limited communication windows, as well as the cost and effort that would need to be expended in revising a mission schedule, a ground-based scheduler would have little or no opportunity to revise the schedule in response to the contingencies that may arise. For this reason, a distributed science planning system combining a ground-based scheduler with on-board schedule revision capabilities is warranted. This paper will describe algorithms for on-board decision-making for science planning and their integration with the advanced satellite control and communications technology developed at the Space Communication Emulation Facility (SCEF) at NASA Glenn Research Center. Our objective of demonstrating how advanced communications and scheduling technology can be combined to improve the scientific utility of images acquired by Earth observing systems will be discussed via a description of a number of realistic flight scenarios.

Khatib, Lina↗

NASA NTRS2019

High Performance Spacecraft Computing (HPSC) Middleware Update

High Performance Spacecraft Computing (HPSC) is a joint project between the National Aeronautics and Space Administration (NASA) and Air Force Research Lab (AFRL) to develop a high-performance multi-core radiation hardened flight processor. HPSC offers a new flight computing architecture to meet the needs of NASA missions through 2030 and beyond. Providing on the order of 100X the computational capacity of current flight processors for the same amount of power, the multicore architecture of the HPSC processor, or "Chiplet" provides unprecedented flexibility in a flight computing system by enabling the operating point to be set dynamically, trading among needs for computational performance, energy management and fault tolerance. The HPSC Chiplet is being developed by Boeing under contract to NASA, and is expected to provide prototypes, an evaluation board, system emulators, comprehensive system software, and a software development kit. In addition to the vendor deliverables, the AFRL is funding the development of a flexible Middleware to be developed by NASA Jet Propulsion Laboratory and NASA Goddard Space Flight Center. The HPSC Middleware provides a suite of thirteen high level services to manage the compute, memory and I/O resources of this complex device.This presentation will provide an HPSC project update, an overview of the latest HPSC System Software release, an overview of HPSC Middleware Release 2, and a preview of the third HPSC Middleware release. The presentation will begin with a project update that will provide a look at the high-level changes since the project was introduced at the Flight Software Workshop last year. Next, the presentation will provide an overview of the current suite of HPSC System Software which includes the vendor provided bootloaders, operating systems, emulator, and development tools. Next, the HPSC Middleware progress will be presented, which includes an overview of the features and capabilities of HPSC Middleware Release 2, followed by a look at the reference flight software applications which utilize the Middleware. Finally, the presentation will give a preview of the HPSC Middleware Release 3.

Cudmore, Alan↗

NASA NTRS1987

The application of emulation techniques in the analysis of highly reliable, guidance and control computer systems

Emulation techniques can be a solution to a difficulty that arises in the analysis of the reliability of guidance and control computer systems for future commercial aircraft. Described here is the difficulty, the lack of credibility of reliability estimates obtained by analytical modeling techniques. The difficulty is an unavoidable consequence of the following: (1) a reliability requirement so demanding as to make system evaluation by use testing infeasible; (2) a complex system design technique, fault tolerance; (3) system reliability dominated by errors due to flaws in the system definition; and (4) elaborate analytical modeling techniques whose precision outputs are quite sensitive to errors of approximation in their input data. Use of emulation techniques for pseudo-testing systems to evaluate bounds on the parameter values needed for the analytical techniques is then discussed. Finally several examples of the application of emulation techniques are described.

Migneault, Gerard E.↗

NASA NTRS1979

Emulation applied to reliability analysis of reconfigurable, highly reliable, fault-tolerant computing systems

Emulation techniques applied to the analysis of the reliability of highly reliable computer systems for future commercial aircraft are described. The lack of credible precision in reliability estimates obtained by analytical modeling techniques is first established. The difficulty is shown to be an unavoidable consequence of: (1) a high reliability requirement so demanding as to make system evaluation by use testing infeasible; (2) a complex system design technique, fault tolerance; (3) system reliability dominated by errors due to flaws in the system definition; and (4) elaborate analytical modeling techniques whose precision outputs are quite sensitive to errors of approximation in their input data. Next, the technique of emulation is described, indicating how its input is a simple description of the logical structure of a system and its output is the consequent behavior. Use of emulation techniques is discussed for pseudo-testing systems to evaluate bounds on the parameter values needed for the analytical techniques. Finally an illustrative example is presented to demonstrate from actual use the promise of the proposed application of emulation.

Migneault, G. E.↗

NASA NTRS1992

Synchronous parallel system for emulation and discrete event simulation

A synchronous parallel system for emulation and discrete event simulation having parallel nodes responds to received messages at each node by generating event objects having individual time stamps, stores only the changes to state variables of the simulation object attributable to the event object, and produces corresponding messages. The system refrains from transmitting the messages and changing the state variables while it determines whether the changes are superseded, and then stores the unchanged state variables in the event object for later restoral to the simulation object if called for. This determination preferably includes sensing the time stamp of each new event object and determining which new event object has the earliest time stamp as the local event horizon, determining the earliest local event horizon of the nodes as the global event horizon, and ignoring the events whose time stamps are less than the global event horizon. Host processing between the system and external terminals enables such a terminal to query, monitor, command or participate with a simulation object during the simulation process.

Steinman, Jeffrey S.↗

NASA NTRS2001

Synchronous Parallel System for Emulation and Discrete Event Simulation

A synchronous parallel system for emulation and discrete event simulation having parallel nodes responds to received messages at each node by generating event objects having individual time stamps, stores only the changes to the state variables of the simulation object attributable to the event object and produces corresponding messages. The system refrains from transmitting the messages and changing the state variables while it determines whether the changes are superseded, and then stores the unchanged state variables in the event object for later restoral to the simulation object if called for. This determination preferably includes sensing the time stamp of each new event object and determining which new event object has the earliest time stamp as the local event horizon, determining the earliest local event horizon of the nodes as the global event horizon, and ignoring events whose time stamps are less than the global event horizon. Host processing between the system and external terminals enables such a terminal to query, monitor, command or participate with a simulation object during the simulation process.

Jeffrey S Steinman↗

NASA NTRS2019

High-Performance Spaceflight Computing (HPSC) Middleware Overview

High Performance Spacecraft Computing (HPSC) is a joint project between the National Aeronautics and Space Administration (NASA) and Air Force Research Lab (AFRL) to develop a high-performance multi-core radiation hardened flight processor. HPSC offers a new flight computing architecture to meet the needs of NASA missions through 2030 and beyond. Providing on the order of 100X the computational capacity of current flight processors for the same amount of power, the multicore architecture of the HPSC processor, or "Chiplet" provides unprecedented flexibility in a flight computing system by enabling the operating point to be set dynamically, trading among needs for computational performance, energy management and fault tolerance. The HPSC Chiplet is being developed by Boeing under contract to NASA, and is expected to provide prototypes in 2021. The HPSC Chiplet prototypes will be delivered with an evaluation board, system emulators, comprehensive system software, and a software development kit. In addition to the vendor deliverables, the AFRL is funding the development of a flexible Middleware to be developed by NASA Jet Propulsion Laboratory and NASA Goddard Space Flight Center. The HPSC Middleware provides a suite of thirteen high level services to manage the compute, memory and I/O resources of this complex device.This presentation will provide an overview of the HPSC project, including a hardware overview, system software overview, Middleware overview, and mission use cases. The hardware overview will provide a look at the 8 core High Performance Processing Subsystem (HPPS), the Real Time Processing Subsystem (RTPS), the Chiplet Configuration Management Subsystem, on chip peripherals, and high speed I/O. The system software overview will introduce the boot loaders, operating systems, device drivers, and software development environment. The Middleware overview will provide insight into the high-level services that will be provided to help mission developers manage the many resources and configurations made possible with the Chiplet. Finally, the presentation will provide a brief look at the mission use cases that can be enabled with this next generation architecture.

middleware↗

NASA NTRS1995

Simulating the dynamic interaction of a robotic arm and the Space Shuttle remote manipulator system

Industrial robots are usually attached to a rigid base. Placing the robot on a compliant base introduces dynamic coupling between the two systems. The Vehicle Emulation System (VES) is a six DOF platform that is capable of modeling this interaction. The VES employs a force-torque sensor as the interface between robot and base. A computer simulation of the VES is presented. Each of the hardware and software components is described and Simulink is used as the programming environment. The simulation performance is compared with experimental results to validate accuracy. A second simulation which models the dynamic interaction of a robot and a flexible base acts as a comparison to the simulated motion of the VES. Results are presented that compare the simulated VES motion with the motion of the VES hardware using the same admittance model. The two computer simulations are compared to determine how well the VES is expected to emulate the desired motion. Simulation results are given for robots mounted to the end effector of the Space Shuttle Remote Manipulator System (SRMS). It is shown that for fast motions of the two robots studied, the SRMS experiences disturbances on the order of centimeters. Larger disturbances are possible if different manipulators are used.

Garrahan, Steven L.↗

NASA NTRS1992

Virtual reality systems

Virtual realities are a type of human-computer interface (HCI) and as such may be understood from a historical perspective. In the earliest era, the computer was a very simple, straightforward machine. Interaction was human manipulation of an inanimate object, little more than the provision of an explicit instruction set to be carried out without deviation. In short, control resided with the user. In the second era of HCI, some level of intelligence and control was imparted to the system to enable a dialogue with the user. Simple context sensitive help systems are early examples, while more sophisticated expert system designs typify this era. Control was shared more equally. In this, the third era of the HCI, the constructed system emulates a particular environment, constructed with rules and knowledge about 'reality'. Control is, in part, outside the realm of the human-computer dialogue. Virtual reality systems are discussed.

Johnson, David W.↗

NASA NTRS1993

Admittance model for the shuttle remote manipulator system in four configurations

A possible scenario for robot task performance in space is to mount two small, dexterous arms to the end of the Shuttle Remote Manipulator System (SRMS). As these small robots perform tasks, the flexibility of the SRMS may cause unsuccessful task executions. In order to simulate the dynamic coupling between the SRMS and the arms, admittance models of the SRMS in four brakes locked configurations were developed. The admittance model permits calculation of the SRMS end-effector response due to end-effector disturbing forces. The model will then be used in conjunction with a Stewart Platform, a vehicle emulation system. An application of the admittance model was shown by simulating the disturbing forces using two SRMS payloads, the Dextrous Orbital Servicing System (DOSS) manipulator and DOSS carrying a 1000 lb. cylinder. Mode by mode comparisons were conducted to determine the minimum number of modes required in the admittance model while retaining dynamic fidelity. It was determined that for all four SRMS configurations studied, between 4 and 6 modes of the SRMS structure (depending on the excitation loads) were sufficient to retain tolerance of 0.01 inches and 0.01 deg. These tolerances correspond to the DOSS manipulator carrying no object. When the DOSS carries the 1000 lb. cylinder, between 15 and 20 modes were sufficient, approximately three or four times as many modes as for the unloaded case.

Papadopoulos, Loukas↗

NASA NTRS1988

The dynamic control of robotic manipulators in space

Described briefly is the work done during the first half year of a three-year study on dynamic control of robotic manipulators in space. The research focused on issues for advanced control of space manipulators including practical issues and new applications for the Virtual Manipulator. In addition, the development of simulations and graphics software for space manipulators, begun during the first NASA proposal in the area, has continued. The fabrication of the Vehicle Emulator System (VES) is completed and control algorithms are in process of development.

Dubowsky, S.↗

NASA NTRS1992

Kinematics of an in-parallel actuated manipulator based on the Stewart platform mechanism

This paper presents kinematic equations and solutions for an in-parallel actuated robotic mechanism based on Stewart's platform. These equations are required for inverse position and resolved rate (inverse velocity) platform control. NASA LaRC has a Vehicle Emulator System (VES) platform designed by MIT which is based on Stewart's platform. The inverse position solution is straight-forward and computationally inexpensive. Given the desired position and orientation of the moving platform with respect to the base, the lengths of the prismatic leg actuators are calculated. The forward position solution is more complicated and theoretically has 16 solutions. The position and orientation of the moving platform with respect to the base is calculated given the leg actuator lengths. Two methods are pursued in this paper to solve this problem. The resolved rate (inverse velocity) solution is derived. Given the desired Cartesian velocity of the end-effector, the required leg actuator rates are calculated. The Newton-Raphson Jacobian matrix resulting from the second forward position kinematics solution is a modified inverse Jacobian matrix. Examples and simulations are given for the VES.

Williams, Robert L., II↗

NASA NTRS2019

On-Orbit Xenon Refueling Loading Times and Transient Analysis

The Power and Propulsion Element (PPE) of the Lunar Orbital Platform-Gateway will demonstrate the first on-orbit refueling of xenon propellant for a solar electric propulsion system. An analysis was performed in Microsoft Excel to determine what factors influence the overall refueling time of a single 2,000-kilogram capacity xenon propellant tank, as well as provide estimates for overall refueling duration. Due to the high heat of compression of xenon, the propellant tank could exceed its maximum allowable temperature during refueling if the xenon flow rate and temperature are unregulated. In order to prevent overheating, a logic based "bang-bang" operation was used for refueling, shutting off the mass feed when the tank reached a maximum temperature. Heat is removed from the tank via radiation to the surrounding spacecraft bus. The analysis shows that optimizing key parameters such as mass flow rate into the tank, residual propellant in the tank during the onset of refueling, and tank diameter significantly reduces the overall refueling duration. Optimization is not straightforward, however, as the loading time does not trend monotonically with the parameters. Overall, the most significant impact on loading duration comes from altering the residual propellant in the tank. Increasing the mass of residual propellant from 2 percent to 20 percent reduces the overall refueling duration by 56 percent. Future work based on this analysis includes creation of a SINDA/FLUINT model and building a ground-based xenon refueling system emulator.

Xenon↗

NASA NTRSDate not supplied

Control and Scaling Approach for the Emulation of Dynamic Subscale Torque Loads

Research and development of electrified aircraft propulsion powertrains is moving toward the use electro-mechanical systems to emulate the loads a system imparts on another. Replacing a prime mover with a model driving an electro-mechanical system capable of emulating loads that regulate the system to produce a desired response is a lower risk, lower cost alternative to using the traditional prime mover for control system verification. This paper outlines a control and scaling approach for emulating scaled dynamic torque loads using electric machine (EM) hardware for electrified aircraft propulsion research and development purposes. The approach, known as the Sliding Mode Impedance Controller with Scaling (SMICS), drives a mechanically coupled two-EM system that provides a scaled hardware representation of an electrified turbomachinery shaft. One EM reflects inertial dynamics and load of the shaft under steady-state and transient operation while the second EM represents a motor/generator connected to the shaft. This closed loop system applies impedance and sliding mode control schemes to match desired dynamics in real-time along with parameter scaling to effectively scale full scale torque inputs, a full-scale desired inertia, and sub-scale speed feedback. The result is a sub-scale hardware implementation of a coupled EM system that is command-able by a model and control system designed for a full-scale electrified aircraft propulsion powertrain. The paper elaborates on the need for closed loop control and scaling as well as impedance and sliding mode control theory, shows a derivation of the controller and scaling, its implementation, and presents a comparison of theoretical and actual simulation results acquired during hardware-in-the-loop testing of a partial turboelectric propulsion concept at the NASA Electric Aircraft Testbed (NEAT).

Santino J Bianco↗

NASA NTRS2014

Propulsion Electric Grid Simulator (PEGS) for Future Turboelectric Distributed Propulsion Aircraft

NASA Glenn Research Center, in collaboration with the aerospace industry and academia, has begun the development of technology for a future hybrid-wing body electric airplane with a turboelectric distributed propulsion (TeDP) system. It is essential to design a subscale system to emulate the TeDP power grid, which would enable rapid analysis and demonstration of the proof-of-concept of the TeDP electrical system. This paper describes how small electrical machines with their controllers can emulate all the components in a TeDP power train. The whole system model in Matlab/Simulink was first developed and tested in simulation, and the simulation results showed that system dynamic characteristics could be implemented by using the closed-loop control of the electric motor drive systems. Then we designed a subscale experimental system to emulate the entire power system from the turbine engine to the propulsive fans. Firstly, we built a system to emulate a gas turbine engine driving a generator, consisting of two permanent magnet (PM) motors with brushless motor drives, coupled by a shaft. We programmed the first motor and its drive to mimic the speed-torque characteristic of the gas turbine engine, while the second motor and drive act as a generator and produce a torque load on the first motor. Secondly, we built another system of two PM motors and drives to emulate a motor driving a propulsive fan. We programmed the first motor and drive to emulate a wound-rotor synchronous motor. The propulsive fan was emulated by implementing fan maps and flight conditions into the fourth motor and drive, which produce a torque load on the driving motor. The stator of each PM motor is designed to travel axially to change the coupling between rotor and stator. This feature allows the PM motor to more closely emulate a wound-rotor synchronous machine. These techniques can convert the plain motor system into a unique TeDP power grid emulator that enables real-time simulation performance using hardware-in-the-loop (HIL).

electric power grid emulator↗